125 lines
2.5 KiB
C
125 lines
2.5 KiB
C
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/**
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* @author R<EFBFBD>mi Heredero
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* @version 1.0.0
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* @date September 2023
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* @file steering.h
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*/
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#ifndef STEERING_H
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#define STEERING_H
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#include "../xf/xf.h"
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#include "../middleware/alive.h"
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typedef enum {
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STST_INIT = 110,
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STST_WAIT,
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STST_RUN,
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STST_DEAD
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} STEERING_STATES;
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typedef enum {
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evSTinit = 110,
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evSTstart,
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evSTstop,
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evSTresurrect,
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evSTpollDir
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} STEERING_EVENTS;
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typedef void (*STEERING_CALLBACK_FUNCTION)(void*);
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typedef struct {
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STEERING_CALLBACK_FUNCTION f; // function
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void* p; // param(s)
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} STEERING_CALLBACK;
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typedef struct {
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STEERING_STATES state;
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ALIVE myChecker;
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STEERING_CALLBACK wait;
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STEERING_CALLBACK run;
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STEERING_CALLBACK dead;
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} STEERING;
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/**
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* Initialize the STEERING
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* @param me the STEERING itself
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*/
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void STEERING_init(STEERING* me);
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/**
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* Start the STEERING state machine
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* @param me the STEERING itself
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*/
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void STEERING_startBehaviour(STEERING* me);
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/**
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* Process the event
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* @param ev the event to process
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* @return true if the event is processed
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*/
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bool STEERING_processEvent(Event* ev);
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/*************
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* Callbacks *
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*************/
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/**
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* Set the callback function to call when the STEERING is entering state wait
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* @param me the STEERING itself
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* @param f the function to call
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* @param p the param(s) to pass to the function
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*/
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void STEERING_onWait(STEERING* me, STEERING_CALLBACK_FUNCTION f, void* p);
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/**
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* Set the callback function to call when the STEERING is entering state run
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* @param me the STEERING itself
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* @param f the function to call
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* @param p the param(s) to pass to the function
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*/
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void STEERING_onRun(STEERING* me, STEERING_CALLBACK_FUNCTION f, void* p);
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/**
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* Set the callback function to call when the STEERING is entering state dead
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* @param me the STEERING itself
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* @param f the function to call
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* @param p the param(s) to pass to the function
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*/
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void STEERING_onDead(STEERING* me, STEERING_CALLBACK_FUNCTION f, void* p);
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/************
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* EMITTERS *
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************/
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/**
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* Emit the start event
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* @param p the STEERING itself
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*/
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void STEERING_emitStart(void* p);
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/**
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* Emit the stop event
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* @param p the STEERING itself
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*/
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void STEERING_emitStop(void* p);
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/**
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* Emit the resurrect event
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* @param p the STEERING itself
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*/
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void STEERING_emitResurrect(void* p);
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/**
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* Emit the pollDir event
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* @param me the STEERING itself
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* @param t time to wait in ms before triggering event
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* @param data data to put on the event for XF
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*/
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void STEERING_emitPollDir(void* p);
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/***********
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* SETTERS *
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***********/
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#endif
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